CN114670829A - Vehicle control method, apparatus, controller, storage medium, and program product - Google Patents

Abstract

Embodiments of the present disclosure relate to a vehicle control method, device, controller, storage medium, and program product. The vehicle control method is applied to a platoon car, and the platoon car includes a leader car and at least one automatically-driven following car; the method includes: inserting other vehicles in a car before detecting the following car and the platoon car. When driving the vehicle, obtain the relative driving information between the following vehicle and the other vehicles, as well as the driving information of the leading vehicle; determine the target of the following vehicle according to the relative driving information and the driving information of the leading vehicle acceleration; according to the target acceleration, control information for controlling the traveling speed of the following vehicle is obtained. The adoption of the method can improve the accuracy of the self-driving vehicle in the platoon to adjust its own speed.

Description

Vehicle control method, device, controller, storage medium and program product

technical field

The embodiments of the present disclosure relate to the technical field of automatic driving, and in particular, to a vehicle control method, device, controller, storage medium, and program product.

Background technique

An autonomous driving queue refers to a high-speed and stable queue formed by several vehicles. The first vehicle in the queue is driven by humans, and the other vehicles in the queue are driven automatically. However, the platoon faces a variety of driving scenarios during the driving process, and other vehicles may be inserted into the platoon. Therefore, when another vehicle is inserted in the platoon, the driving speed of the autonomous vehicle needs to be adjusted in time. .

In the traditional technology, when other vehicles are inserted in the queue, the self-driving vehicle usually follows the inserted target vehicle in adaptive cruise mode. When the target vehicle decelerates, the self-driving vehicle will also decelerate. When the car accelerates, the self-driving vehicle also accelerates.

However, there is a problem that the control method of the traditional self-driving vehicle cannot accurately adjust its own driving speed.

SUMMARY OF THE INVENTION

Embodiments of the present disclosure provide a vehicle control method, device, controller, storage medium, and program product, which can be used to improve the accuracy with which an autonomous vehicle in a platoon adjusts its own speed.

In a first aspect, an embodiment of the present disclosure provides a vehicle control method, where the vehicle control method is applied to a platoon, where the platoon includes a leader vehicle and at least one automatically-driven follower vehicle; the method includes:

When it is detected that the following vehicle and the preceding vehicle in the platoon are inserted into other vehicles, acquiring relative driving information between the following vehicle and the other vehicles, as well as the driving information of the leading vehicle;

determining the target acceleration of the following vehicle according to the relative driving information and the driving information of the leading vehicle;

According to the target acceleration, control information for controlling the traveling speed of the following vehicle is obtained.

In a second aspect, an embodiment of the present disclosure provides a vehicle control device. The vehicle control device is applied to a platoon car, and the platoon car includes a leader car and at least one automatically-driven follower car; the device includes:

The first acquisition module is configured to acquire the relative travel information between the following vehicle and the other vehicles, and the information of the leading vehicle when it is detected that the following vehicle and the front vehicle in the platoon are inserted into other vehicles. driving information;

a first determining module, configured to determine the target acceleration of the following vehicle according to the relative driving information and the driving information of the leading vehicle;

The second obtaining module is configured to obtain control information for controlling the traveling speed of the following vehicle according to the target acceleration.

In a third aspect, an embodiment of the present disclosure provides a controller, including a memory, a processor, and a computer program stored on the memory and executable on the processor, which is implemented when the processor executes the computer program The method described in the first aspect above.

In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the method described in the first aspect.

In a fifth aspect, an embodiment of the present disclosure provides a computer program product, including a computer program, which implements the method described in the first aspect when the computer program is executed by a processor.

The vehicle control method, device, controller, storage medium, and program product provided by the embodiments of the present disclosure, when it is detected that the following vehicle and the preceding vehicle in the platoon are inserted into other vehicles, the relative driving information between the following vehicle and other vehicles is obtained by acquiring As well as the driving information of the leading car, the target acceleration of the following car can be determined according to the relative driving information between the following car and other vehicles and the driving information of the leading car, because the target acceleration of the following car is based on the relative driving between the following car and other vehicles. The information determined by the information and the driving information of the leading vehicle not only considers the relative driving information between the following vehicle and other vehicles, but also considers the driving information of the leading vehicle, so that the accuracy of the determined target acceleration of the following vehicle is improved. The control information for controlling the traveling speed of the following vehicle can be accurately obtained according to the determined target acceleration of the following vehicle with high accuracy, which improves the accuracy of the obtained control information for controlling the traveling speed of the following vehicle.

Description of drawings

1 is an application environment diagram of a vehicle control method in one embodiment;

2 is a schematic flowchart of a vehicle control method in one embodiment;

FIG. 3 is a schematic flowchart of a vehicle control method in another embodiment

4 is a structural block diagram of a vehicle control device in one embodiment;

FIG. 5 is a diagram of the internal structure of the controller in one embodiment.

Detailed ways

In order to make the objectives, technical solutions and advantages of the embodiments of the present disclosure more clear, the embodiments of the present disclosure will be described in further detail below with reference to the accompanying drawings and the embodiments. It should be understood that the specific embodiments described herein are only used to explain the embodiments of the present disclosure, and are not used to limit the embodiments of the present disclosure.

First, before introducing the technical solutions of the embodiments of the present disclosure in detail, the technical background or technical evolution context on which the embodiments of the present disclosure are based is introduced. Usually, in the field of automatic driving, the current technical background is: the automatic driving queue is a high-speed and stable queue formed by several vehicles, the leading vehicle in the queue is driven by humans, and the following vehicles in the queue are driven automatically. When other vehicles are inserted into the queue, the auto-driving follower car adopts the adaptive cruise state Acc mode to follow the other vehicles inserted. When the vehicle accelerates, the auto-driving follower car will also accelerate. However, if the driving speed of the auto-driving follower car in the queue only considers the driving speed of the other inserted vehicles, when the other inserted vehicles leave, the following vehicle will have a higher speed. Great risk of hitting the car in front. Based on this background, the applicant, through long-term model simulation research and development and the collection, demonstration and verification of experimental data, found that when the auto-driving follower vehicle follows the other inserted vehicles at a relatively high speed, if the leading vehicle in the queue travels at a high speed Low, even stationary, the other vehicles that are inserted can change lanes laterally and quickly cut out of the current lane to avoid collisions, but for the following vehicles that are autonomously driven, they cannot change lanes autonomously in the lateral direction. There is a greater risk of colliding with the vehicle in front when going faster. How to accurately adjust the speed of the following vehicles in the queue has become an urgent problem to be solved. In addition, it should be noted that the following vehicle that is automatically driven from the determined platoon vehicle adopts the adaptive cruise state Acc mode to follow other vehicles inserted, and there is a greater risk of hitting the preceding vehicle and the technical solutions introduced in the following embodiments, All applicants have made a lot of creative work.

The following describes the technical solutions involved in the embodiments of the present disclosure in combination with the scenarios to which the embodiments of the present disclosure are applied.

The vehicle control method provided by the embodiment of the present disclosure can be applied to the application environment shown in FIG. 1 . Among them, the leading vehicle is a manually driven vehicle, the following vehicle and the trailing vehicle are automatically driven vehicles, the leading vehicle, the following vehicles and the trailing vehicles form an automatic driving platoon, and the vehicles in the automatic driving platoon can be connected through the Internet of Vehicles technology. Vehicle to Vehicle (V2V) realizes short-distance vehicle-to-vehicle communication. The front vehicle in the automatic driving queue can inform the rear vehicle of its own driving information. Each rear vehicle has its own controller, and each rear vehicle has its own controller. The controller of the car can adjust and control its own travel speed based on the travel information of the preceding vehicle and its own travel information.

In one embodiment, as shown in FIG. 2 , a vehicle control method is provided, and the vehicle control method is applied to a platoon, where the platoon includes a leader car and at least one automatically-driven follower car; the method is applied to the platoon. The controller of the following car in 1 is used as an example to illustrate, including the following steps:

S201 , when it is detected that other vehicles are inserted in the preceding vehicle in the following vehicle and the platooning vehicle, obtain relative traveling information between the following vehicle and other vehicles, and the traveling information of the leading vehicle.

Wherein, the relative driving information between the following vehicle and other vehicles may include the relative distance between the following vehicle and other vehicles, the relative speed between the following vehicle and other vehicles, and the relative driving direction between the following vehicle and other vehicles, etc. Further, the following vehicle The relative driving information with other vehicles may also include the absolute speed of the inserted other vehicle, the driving direction of the inserted other vehicle, etc.; the driving information of the pilot car may include the accelerator pedal opening of the pilot car and the brake pedal of the pilot car. The opening, the actual output torque of the engine of the pilot car, the speed information of the pilot car, the position information of the pilot car, etc. Optionally, the following car can detect whether other vehicles are inserted in the front workshop of the following car and the platoon according to its own perception system. Optionally, the perception system of the following car can include cameras, lidars, millimeter-wave radars, etc., For example, the following car can detect whether other vehicles are inserted into the following car and the front car in the platoon according to the image collected by the camera in its own perception system, or the following car can use the point cloud data collected by the lidar in its own perception system. Detects whether other vehicles are inserted in the preceding vehicle in the following vehicle and in the platoon. It can be understood that the following vehicles in the platoon may be the same type of vehicles, and the information such as the contours of the vehicles is relatively close. Therefore, the perception system of the following vehicles can be based on whether there is a large difference in the contours of the following vehicles according to the images collected by the camera. The vehicle judges whether other vehicles are inserted into the following vehicle and the front car in the platoon, or the perception system of the following vehicle can use the point cloud data collected by lidar to determine whether there is point cloud data with a larger outline than the point cloud data of the following vehicle. To judge whether the front car in the following car and the platoon car is inserted into other vehicles. Optionally, the following vehicle may also acquire relative travel information between the following vehicle and other vehicles according to its own perception system. Optionally, the driving information of the leading car may be sent by the leading car to the following car in real time autonomously through short-distance communication with the following workshop, or the following car may send an acquisition instruction to the leading car, instructing the leading car to send its own driving information. Sent to the following car.

S202: Determine the target acceleration of the following vehicle according to the relative driving information and the driving information of the leading vehicle.

Optionally, the relative driving information between the following vehicle and other vehicles may include the relative driving speed between the following vehicle and other vehicles, and the driving information of the leading vehicle may include the driving acceleration of the leading vehicle. Therefore, the following vehicle may The relative acceleration between the following vehicle and other vehicles is obtained from the relative driving speed of other vehicles, so that the following vehicle can determine the target acceleration of the following vehicle according to the driving acceleration of the leading vehicle and the relative acceleration between the following vehicle and other vehicles, for example, The following vehicle may determine the driving acceleration of the leading vehicle as its own target acceleration, or the following vehicle may determine the relative acceleration between the following vehicle and other vehicles as its own target acceleration. Optionally, as another achievable implementation manner, the relative driving information between the following vehicle and other vehicles may include the current driving speed of other vehicles, the driving information of the leading vehicle may include the current driving speed of the leading vehicle, and the following vehicle may include the current driving speed of the leading vehicle. The minimum value between the current driving speed of other vehicles and the current driving speed of the leading vehicle is determined as the target driving speed of the following vehicle, and then the following vehicle can determine the target acceleration of the following vehicle according to the target driving speed of the following vehicle.

S203 , obtaining control information for controlling the traveling speed of the following vehicle according to the target acceleration.

It can be understood that the running speed of the following car is controlled by the accelerator and braking of the following car, and the control information for controlling the running speed of the following car may include the engine output torque value of the following car and the braking deceleration of the following car. Optionally, in this embodiment, the following car may determine the running speed of the following car according to the target acceleration of the following car and the current running speed of the following car, so as to determine the engine output torque of the following car according to the running speed of the following car. value and the braking deceleration of the following car. Optionally, the following vehicle may also obtain control information for controlling the traveling speed of the following vehicle by using an existing calculation model according to the target acceleration of the following vehicle.

When it is detected that other vehicles are inserted in the preceding vehicle in the following vehicle and the platoon, the relative driving information between the following vehicle and other vehicles and the driving information of the leading vehicle can be obtained by obtaining the relative driving information between the following vehicle and other vehicles. The driving information of the leading car determines the target acceleration of the following car. Since the target acceleration of the following car is determined according to the relative driving information between the following car and other vehicles and the driving information of the leading car, it also considers the distance between the following car and other vehicles. It also takes into account the driving information of the leading car, so that the accuracy of the determined target acceleration of the following car is improved, so that the following car can be accurately controlled according to the determined target acceleration of the following car with higher accuracy. The control information of the traveling speed improves the accuracy of the obtained control information for controlling the traveling speed of the following vehicle.

Further, in one embodiment, as shown in FIG. 3 , the above S202 includes:

S301 , according to the relative driving information, determine the first acceleration of the following vehicle in an adaptive cruise state.

The adaptive cruise state Acc refers to a state in which the following vehicle follows the driving information of the inserted other vehicle when other vehicles are inserted in the following vehicle and the preceding vehicle in the platoon. Optionally, in this embodiment, the following car may determine the first speed of the following car in the adaptive cruise state by using the calculation algorithm of the acceleration of the following car in the adaptive cruise state according to the relative driving information between the following car and other vehicles. an acceleration. It can be understood that, the first acceleration in this embodiment is the acceleration determined when the following vehicle follows the other vehicles that are inserted.

S302, according to the driving information of the leading vehicle, determine the second acceleration of the following vehicle in a coordinated vehicle following state.

The cooperative car following state Cacc refers to a state in which the following car follows the leading car for platooning. It can be understood that other vehicles inserted in the platoon car may leave the platoon at any time. Therefore, in this embodiment, it is assumed that there are no other vehicles inserted in the platoon car, and the following car is to follow the leader car in the platoon car to drive in platoon. The following car can determine the second acceleration of the following car in the cooperative car following state by using the calculation algorithm of the following car acceleration in the cooperative car following state according to the driving information of the leading car.

S303: Determine the target acceleration according to the first acceleration and the second acceleration.

Optionally, as an achievable implementation, the following car may obtain an average acceleration according to the above-mentioned first acceleration and second acceleration, and then determine the above-mentioned target acceleration according to the average acceleration and a preset adjustment threshold. For example, the following car may The difference between the above average acceleration and the adjustment threshold is determined as the above target acceleration. It should be noted that the above-mentioned target acceleration is smaller than the above-mentioned average acceleration, so as to avoid the collision between the following vehicle and the preceding vehicle. Optionally, as another achievable implementation manner, the following car can obtain the first difference between the first acceleration and the preset acceleration threshold, and the second difference between the second acceleration and the preset acceleration threshold, and use The minimum value of the first difference value and the second difference value is determined as the target acceleration.

In this embodiment, the following vehicle can determine the first acceleration of the following vehicle in the adaptive cruise state according to the relative driving information between the following vehicle and other vehicles, and the following vehicle can determine that the following vehicle is in the adaptive cruise state according to the driving information of the leading vehicle. Coordinate the second acceleration in the following state, so that the following car can determine the target acceleration of the following car according to the determined first acceleration and second acceleration, because the target acceleration of the following car is determined according to the first acceleration and the second acceleration. , the first acceleration is the acceleration of the following car in the adaptive cruise state, and the second acceleration is the acceleration of the following car in the cooperative following state, so that the target acceleration of the following car not only takes into account the relative driving information between the following car and other vehicles , the driving information of the leading car is also considered, so that the accuracy of the target acceleration of the following car is determined to be improved.

Further, in the scenario where the following vehicle determines the target acceleration according to the first acceleration and the second acceleration, in one embodiment, the above S303 includes: determining the minimum value of the first acceleration and the second acceleration as The target acceleration of the following car.

Specifically, the above-mentioned first acceleration is the acceleration determined when the following vehicle only considers the driving information of other inserted vehicles, and the above-mentioned second acceleration is the acceleration determined when the following vehicle assumes that the other inserted vehicles leave and only considers the driving information of the leading vehicle For the determined acceleration, the minimum value of the first acceleration and the second acceleration is taken as the target acceleration of the following car, so that the following car still considers the driving information of the leading car when other vehicles are inserted, so as to ensure its own safety. The acceleration of the vehicle is carried out to avoid the collision between the following vehicle and the preceding vehicle.

In this embodiment, the following car determines the minimum value of the first acceleration in the adaptive cruise state and the second acceleration in the cooperative following state as the target acceleration of the following car, which ensures that the following car is inserted when other vehicles are inserted. In the case of , the driving information of the leading vehicle can still be considered, and the determined target acceleration can ensure that the vehicle can drive at a safe acceleration, avoiding the collision between the following vehicle and the preceding vehicle.

On the basis of the foregoing embodiment, in one embodiment, the foregoing S203 includes: obtaining control information according to the target acceleration and the dynamic model of the vehicle.

Among them, the dynamics model of the vehicle is generally a model used to analyze the ride comfort of the vehicle and the stability of the vehicle handling. The dynamics of the vehicle mainly includes the longitudinal speed control of the vehicle and the lateral heading control of the vehicle. In a train, therefore, vehicle dynamics in this application primarily refers to the control of the longitudinal speed of the vehicle. Specifically, in this embodiment, the following car can obtain the control information of the following car according to the determined target acceleration and the dynamic model of the vehicle, wherein the control information of the following car mainly includes longitudinal control information of the following car, and optional , the control information of the following car may include the engine output torque value of the following car, the braking deceleration of the following car, and the like.

In this embodiment, the following car can quickly obtain the control information of the following car according to its own target acceleration and the dynamic model of the vehicle, which improves the efficiency of determining the control information of the following car, so that the following car can be timely based on the determined control information. It adjusts its own driving state to ensure the safe driving of the following car.

It can be understood that the following car is an automatic driving vehicle, so the following car needs to perceive its own driving environment information. In one embodiment, the following car includes a plurality of sensors, and the above method further includes: collecting data from the plurality of sensors. data to determine whether other vehicles are inserted in the preceding vehicle in the following vehicle and in the platoon.

The multiple sensors included in the following vehicle may be cameras, lidars, or millimeter-wave radars. Correspondingly, the data collected by the multiple sensors may be camera data or point cloud data. It can be understood that the following vehicles in the platoon may be the same type of vehicles, and the information such as the contours of the vehicles is relatively close. Therefore, the following vehicles can be based on whether there is a contour of the following vehicles in the platoon according to the data collected by multiple sensors. Vehicles with a large difference determine whether other vehicles are inserted in the preceding vehicle in the following vehicle and the platoon. Optionally, when the data collected by multiple sensors is the image data collected by the camera, the following car can identify the image, determine whether there is a vehicle with a large difference in contour from the following car in the image, and determine whether the following car is in the platoon. Whether the front workshop is plugged into other vehicles. Optionally, when the data collected by multiple sensors is point cloud data, the following car can determine whether there is a vehicle with a large difference in the contour of the following car according to the distribution state of the point cloud data, and determine whether the following car is in the platoon. the front workshop of whether other vehicles are inserted.

In this embodiment, the following car can use the data collected by multiple sensors included in itself to quickly determine whether other vehicles are inserted into the following car and the front car in the platoon, and the determination efficiency is high; in addition, since the following car is based on The data collected by its own sensors determines whether the front workshop in the following car and the platoon car is inserted into other vehicles, and the accuracy of the collected data is high, which improves the following car to determine whether the front workshop in the following car and the platoon car is inserted into other vehicles. accuracy.

In the scenario where the following vehicle includes a plurality of sensors, in one embodiment, acquiring relative driving information between the following vehicle and other vehicles in S201 includes: acquiring relative driving information according to data collected by multiple sensors; The traveling information includes the relative distance between the following vehicle and other vehicles, the relative speed between the following vehicle and other vehicles, and the relative traveling direction between the following vehicle and other vehicles.

The relative travel information of the following vehicle and the other inserted vehicle may include the relative distance between the following vehicle and the other vehicle, the relative speed between the following vehicle and the other vehicle, and the relative traveling direction of the following vehicle and the other vehicle. Optionally, the multiple sensors of the following car may include cameras, lidars, millimeter-wave radars, and the like. Optionally, the following car can obtain the relative distance between the following car and other vehicles according to the data collected by the millimeter wave radar, and the following car can obtain the relative speed between the following car and other vehicles and the relative speed between the following car and other vehicles according to the data collected by the camera and lidar. The relative direction of travel of other vehicles.

In this embodiment, the following vehicle can accurately obtain relative driving information between the following vehicle and other vehicles inserted in the preceding vehicle in the platoon according to the data collected by its own multiple sensors, thereby improving the difference between the following vehicle and other vehicles. The accuracy of the relative driving information between the two.

On the basis of the above embodiment, in one embodiment, acquiring the driving information of the pilot vehicle in the above S201 includes: acquiring the driving information through the V2V technology of the Internet of Vehicles.

Among them, the V2V technology of the Internet of Vehicles, namely Vehicle to Vehicle technology, is a common wireless communication technology between vehicles, which can realize short-distance communication between vehicles. Send its own driving information to the following cars in the platoon, or the lead car can send the control information for controlling the driving of the following cars in the platoon to the following cars in the platoon through the V2V technology of the Internet of Vehicles. Optionally, the driving information of the pilot car may include the accelerator pedal opening of the pilot car, the brake pedal opening of the pilot car, the actual output torque of the engine of the pilot car, the speed information of the pilot car, the position information of the pilot car and other information. In this embodiment, the following car can obtain the driving information of the leading car according to the V2V technology of the Internet of Vehicles in the platoon workshop. Optionally, the driving information of the leading car may be actively sent by the leading car to the following car through the V2V technology of the Internet of Vehicles, or the following car may send an acquisition instruction to the leading car, instructing the leading car to send its own driving information to the following car. of.

In this embodiment, the following car can quickly obtain the driving information of the leading car through the V2V technology of the Internet of Vehicles, and the way of obtaining the driving information of the leading car is relatively simple, thereby improving the ability of the following cars in the queue to obtain the driving information of the leading car. s efficiency.

An embodiment of the present disclosure is described below in conjunction with a specific travel scenario, and the method includes the following steps:

S1 , according to data collected by multiple sensors of the following vehicles in the platoon, it is determined whether other vehicles are inserted into the following vehicle and the front workshop in the platoon.

S2, when it is detected that other vehicles are inserted into the front workshop of the following vehicle and the platoon vehicle, according to the data collected by multiple sensors, obtain the relative driving information between the following vehicle and other vehicles; the relative driving information includes the following vehicle and other vehicles. The relative distance, the relative speed between the following car and other vehicles, and the relative driving direction of the following car and other vehicles.

S3, obtain the driving information of the pilot car through the V2V technology of the Internet of Vehicles.

S4, according to the relative driving information, determine the first acceleration of the following vehicle in the adaptive cruise state.

S5, according to the driving information of the leading vehicle, determine the second acceleration of the following vehicle in a coordinated vehicle following state.

S6, the minimum value of the first acceleration and the second acceleration is determined as the target acceleration of the following vehicle.

S7, obtain control information for controlling the running speed of the following vehicle according to the target acceleration and the dynamic model of the vehicle; the control information includes the engine output torque value of the following vehicle and the braking deceleration of the following vehicle.

It should be understood that although the steps in the flowcharts of FIGS. 2-3 are sequentially displayed according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, the execution of these steps is not strictly limited to the order, and these steps may be performed in other orders. Moreover, at least a part of the steps in FIG. 2 to FIG. 3 may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but may be executed at different times. The order of execution is also not necessarily sequential, but may be performed alternately or alternately with other steps or at least a portion of the steps or stages within the other steps.

In one embodiment, as shown in FIG. 4 , a vehicle control device is provided. The vehicle control device is applied to a platoon car, and the platoon car includes a leader car and at least one automatically-driven follower car; it includes: a first acquisition module, a first determination module and a second acquisition module, wherein:

The first acquisition module is used to acquire relative driving information between the following vehicle and other vehicles and the driving information of the leading vehicle when it is detected that the following vehicle and the front vehicle in the platoon are inserted into other vehicles;

a first determining module, configured to determine the target acceleration of the following vehicle according to the relative driving information and the driving information of the leading vehicle;

The second obtaining module is configured to obtain control information for controlling the traveling speed of the following vehicle according to the target acceleration.

Optionally, the control information includes the engine output torque value of the following car and the braking deceleration of the following car.

The vehicle control device provided in this embodiment can execute the above method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.

On the basis of the foregoing embodiment, optionally, the foregoing first determination module includes: a first determination unit, a second determination unit and a third determination unit, wherein:

The first determination unit is configured to determine the first acceleration of the following vehicle in the adaptive cruise state according to the relative driving information.

The second determining unit is configured to determine the second acceleration of the following vehicle in the cooperative following state according to the driving information of the leading vehicle.

The third determination unit is configured to determine the target acceleration according to the first acceleration and the second acceleration.

The vehicle control device provided in this embodiment can execute the above method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.

On the basis of the foregoing embodiment, optionally, the foregoing third determination unit is configured to determine the minimum value of the first acceleration and the second acceleration as the target acceleration of the following vehicle.

The vehicle control device provided in this embodiment can execute the above method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.

On the basis of the foregoing embodiment, optionally, the foregoing second obtaining module includes: a first obtaining unit, wherein:

The first obtaining unit is used for obtaining control information according to the target acceleration and the dynamic model of the vehicle.

The vehicle control device provided in this embodiment can execute the above method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.

On the basis of the foregoing embodiment, optionally, the following vehicle includes a plurality of sensors; the foregoing device further includes: a second determination module, wherein:

The second determination module is used for determining whether another vehicle is inserted into the front workshop in the following vehicle and the platoon vehicle according to the data collected by the plurality of sensors.

The vehicle control device provided in this embodiment can execute the above method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.

On the basis of the above-mentioned embodiment, optionally, the above-mentioned first obtaining module includes: a second obtaining unit; wherein:

The second acquisition unit is used to acquire relative driving information according to data collected by multiple sensors; the relative driving information includes the relative distance between the following vehicle and other vehicles, the relative speed between the following vehicle and other vehicles, and the distance between the following vehicle and other vehicles. relative to the direction of travel.

The vehicle control device provided in this embodiment can execute the above method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.

On the basis of the foregoing embodiment, optionally, the foregoing first obtaining module includes: a third obtaining unit; wherein:

The third acquiring unit is used to acquire driving information through the V2V technology of the Internet of Vehicles.

The vehicle control device provided in this embodiment can execute the above method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.

For the specific limitations of the vehicle control device, reference may be made to the limitations on the vehicle control method above, which will not be repeated here. Each module in the above-mentioned vehicle control device may be implemented in whole or in part by software, hardware and combinations thereof. The above modules can be embedded in or independent of the processor in the controller in the form of hardware, or can be stored in the memory in the controller in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

FIG. 5 is a block diagram of a controller 1400 according to an exemplary embodiment. 5, the controller 1400 includes a processing component 1420, which further includes one or more processors, and a memory resource, represented by memory 1422, for storing instructions or computer programs, such as application programs, executable by the processing component 1420. An application program stored in memory 1422 may include one or more modules, each corresponding to a set of instructions. Additionally, the processing component 1420 is configured to execute instructions to perform the above-described method of vehicle control.

The controller 1400 may also include a power supply assembly 1424 configured to perform power management of the controller 1400, a wired or wireless network interface 1426 configured to connect the controller 1400 to a network, and an input output (I/O) interface 1428 . Controller 1400 may operate based on an operating system stored in memory 1422, such as Windows 1414erverTM, Mac O14 XTM, UnixTM, LinuxTM, FreeB14DTM or the like.

In an exemplary embodiment, there is also provided a storage medium including instructions, such as a memory 1422 including instructions, which are executable by a processor of the controller 1400 to perform the above method. The storage medium may be a non-transitory computer-readable storage medium such as ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.

In an exemplary embodiment, there is also provided a computer program product which, when executed by a processor, can implement the above method. The computer program product includes one or more computer instructions. When these computer instructions are loaded and executed on a computer, some or all of the above methods can be implemented in whole or in part according to the processes or functions described in the embodiments of the present disclosure.

Exemplarily, the embodiment of the present application discloses TS1, a vehicle control method, characterized in that the vehicle control method is applied to a platoon car, and the platoon car includes a leader car and at least one automatically-driven follower car; The methods described include:

When it is detected that the following vehicle and the preceding vehicle in the platoon are inserted into other vehicles, acquiring relative driving information between the following vehicle and the other vehicles, as well as the driving information of the leading vehicle;

determining the target acceleration of the following vehicle according to the relative driving information and the driving information of the leading vehicle;

According to the target acceleration, control information for controlling the traveling speed of the following vehicle is obtained.

TS2. The method according to TS1, wherein the determining the target acceleration of the following vehicle according to the relative driving information and the driving information of the leading vehicle includes:

determining the first acceleration of the following vehicle in the adaptive cruise state according to the relative driving information;

determining the second acceleration of the following vehicle in the cooperative following state according to the driving information of the leading vehicle;

The target acceleration is determined based on the first acceleration and the second acceleration.

TS3. The method according to TS2, the determining the target acceleration according to the first acceleration and the second acceleration, comprising:

A minimum value of the first acceleration and the second acceleration is determined as the target acceleration of the following vehicle.

TS4. The method according to any one of TS1-TS3, wherein the obtaining the control information according to the target acceleration includes:

The control information is obtained according to the target acceleration and the dynamic model of the vehicle.

TS5. The method according to TS1, wherein the following vehicle includes a plurality of sensors; the method further includes:

According to the data collected by the plurality of sensors, it is determined whether the preceding vehicle in the following vehicle and the platoon is inserted into the other vehicle.

TS6. The method according to TS5, wherein the acquiring relative driving information between the following vehicle and the other vehicle includes:

The relative travel information is acquired according to the data collected by the plurality of sensors; the relative travel information includes the relative distance between the following vehicle and the other vehicles, and the relative speed between the following vehicle and the other vehicles and the relative traveling direction of the following vehicle and the other vehicle.

TS7. The method according to TS1, wherein the acquiring the driving information of the pilot vehicle includes:

The driving information is obtained through the V2V technology of the Internet of Vehicles.

TS8. The method according to TS1, wherein the control information includes the engine output torque value of the following car and the braking deceleration of the following car.

TS9. A vehicle control device, characterized in that the vehicle control device is applied to a platoon car, and the platoon car includes a leader car and at least one automatically-driven follower car; the device includes:

The first acquisition module is configured to acquire the relative travel information between the following vehicle and the other vehicles, and the information of the leading vehicle when it is detected that the following vehicle and the front vehicle in the platoon are inserted into other vehicles. driving information;

a first determining module, configured to determine the target acceleration of the following vehicle according to the relative driving information and the driving information of the leading vehicle;

The second obtaining module is configured to obtain control information for controlling the traveling speed of the following vehicle according to the target acceleration.

TS10. A controller comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements TS1 to TS8 when executing the computer program The steps of any one of the methods.

TS11. A storage medium on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the steps of the method described in any one of TS1 to TS8 are implemented.

TS12. A computer program product, comprising a computer program, characterized in that, when the computer program is executed by a processor, the steps of the method described in any one of TS1-TS8 are implemented.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage In the medium, when the computer program is executed, it may include the processes of the above-mentioned method embodiments. Wherein, any reference to memory, storage, database, or other media used in the various embodiments provided by the embodiments of the present disclosure may include at least one of non-volatile and volatile memory. The non-volatile memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, and the like. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, the RAM may be in various forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM).

The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, all It is considered to be the range described in this specification.

The above-mentioned embodiments only represent several implementations of the embodiments of the present disclosure, and the descriptions thereof are relatively specific and detailed, but should not be construed as a limitation on the scope of the invention patent. It should be noted that for those skilled in the art, without departing from the concept of the embodiments of the present disclosure, several modifications and improvements can be made, which all belong to the protection scope of the embodiments of the present disclosure. Therefore, the protection scope of the patent of the embodiments of the present disclosure should be governed by the appended claims.

Claims (12)

1. A vehicle control method is characterized in that the vehicle control method is applied to a train queue, and the train queue comprises a pilot train and at least one automatically-driven follow-up train; the method comprises the following steps:

when detecting that other vehicles are inserted into the following vehicle and the front workshop in the train of the team, acquiring relative driving information between the following vehicle and the other vehicles and driving information of the pilot vehicle;

determining the target acceleration of the following vehicle according to the relative driving information and the driving information of the pilot vehicle;

and obtaining control information for controlling the running speed of the following vehicle according to the target acceleration.

2. The method of claim 1, wherein determining the target acceleration of the follower based on the relative travel information and the travel information of the lead vehicle comprises:

determining a first acceleration of the follower vehicle in a self-adaptive cruise state according to the relative running information;

determining a second acceleration of the following vehicle in a cooperative following state according to the driving information of the pilot vehicle;

and determining the target acceleration according to the first acceleration and the second acceleration.

3. The method of claim 2, wherein determining the target acceleration from the first acceleration and the second acceleration comprises:

and determining the minimum value of the first acceleration and the second acceleration as the target acceleration of the following vehicle.

4. The method according to any one of claims 1-3, wherein the deriving the control information according to the target acceleration comprises:

and obtaining the control information according to the target acceleration and a dynamic model of the vehicle.

5. The method of claim 1, wherein the follower vehicle comprises a plurality of sensors; the method further comprises the following steps:

And determining whether the following vehicle and a front workshop in the train of the team insert the other vehicles or not according to the data collected by the sensors.

6. The method of claim 5, wherein the obtaining relative travel information between the follower vehicle and the other vehicle comprises:

acquiring the relative driving information according to the data acquired by the sensors; the relative travel information includes a relative distance between the following vehicle and the other vehicle, a relative speed between the following vehicle and the other vehicle, and a relative travel direction between the following vehicle and the other vehicle.

7. The method of claim 1, wherein the obtaining the driving information of the pilot vehicle comprises:

and acquiring the driving information through the technology of the Internet of vehicles V2V.

8. The method of claim 1, wherein the control information includes an engine output torque value of the follower and a braking deceleration of the follower.

9. A vehicle control device is characterized in that the vehicle control device is applied to a train queue, and the train queue comprises a pilot vehicle and at least one automatically-driven follow-up vehicle; the device comprises:

The first acquisition module is used for acquiring relative driving information between the following vehicle and other vehicles and driving information of the pilot vehicle when detecting that other vehicles are inserted into a front workshop of the following vehicle and the train of the team;

the first determining module is used for determining the target acceleration of the following vehicle according to the relative driving information and the driving information of the pilot vehicle;

and the second acquisition module is used for acquiring control information for controlling the running speed of the following vehicle according to the target acceleration.

10. A controller comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method of any of claims 1 to 8 when executing the computer program.

11. A storage medium having a computer program stored thereon, the computer program, when being executed by a processor, realizing the steps of the method of any one of claims 1 to 8.

12. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 1-8 when executed by a processor.

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